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EP3615275B1 - Schraubvorrichtung - Google Patents

Schraubvorrichtung Download PDF

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Publication number
EP3615275B1
EP3615275B1 EP18718449.4A EP18718449A EP3615275B1 EP 3615275 B1 EP3615275 B1 EP 3615275B1 EP 18718449 A EP18718449 A EP 18718449A EP 3615275 B1 EP3615275 B1 EP 3615275B1
Authority
EP
European Patent Office
Prior art keywords
screw
effector
controlled
designed
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP18718449.4A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP3615275A1 (de
Inventor
Tobias Ende
Michael Haas
Saskia Golz
Sven Parusel
Simon Haddadin
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Franka Emika GmbH
Original Assignee
Franka Emika GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Franka Emika GmbH filed Critical Franka Emika GmbH
Publication of EP3615275A1 publication Critical patent/EP3615275A1/de
Application granted granted Critical
Publication of EP3615275B1 publication Critical patent/EP3615275B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40072—Exert a screwing motion
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40087—Align hand on workpiece to pick up workpiece, peg and hole
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45091—Screwing robot, tighten or loose bolt
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45203—Screwing

Definitions

  • the invention relates to a screwing device in which screws are automatically transferred from a storage container to a screwing tool of the screwing device.
  • a device for fastening a screw on a workpiece and a method for assessing the loosening of a screw are known.
  • a measuring section measures a position of an insert as a relative position with respect to a setting surface of a screw feeder when the screw is obtained from the screw feeder.
  • the measuring section also measures the position of the insert as a relative position with respect to a workpiece surface when fastening of the screw to a workpiece has been completed.
  • a judging section judges that the screw loosening has not occurred when a difference between the first and second fitting positions is within an allowable range based on the first and second fitting positions.
  • the judgment section judges that the screw loosening has occurred when the difference is not within the allowable range.
  • the object of the invention is to improve an automated screwing process, in particular an automated takeover of screws by a screwing tool, and to improve the reliability of a subsequent screwing process.
  • a first aspect of the invention relates to a screwing device.
  • the proposed screwing device comprises a storage container for screws with a screw head, a screw head drive and a threaded pin as well as a robot manipulator with a screw head and a screw head drive coordinated effector, which is designed and set up for receiving, handling and releasing such a screw.
  • the term “coordinated” means that the effector is designed to pick up or grip the screw and to rotate the screw, that is to say to transfer torque into the screw.
  • the screwing device comprises a separating unit connected to the storage container, which provides screws from the storage container at a (mechanical) interface in such a way that a respective screw head is accessible to the effector.
  • the screw head is advantageously freely accessible so that the effector can grip or pick up the screw on the screw head.
  • the effector advantageously has a gripping device and / or a magnetic device for picking up or gripping the screw head.
  • the device further comprises a control unit for controlling and / or regulating the robot manipulator, the control unit being designed and set up to execute the following first control program.
  • the execution of the first control program controls the robot manipulator in such a way that the effector is guided by the robot manipulator along a predetermined trajectory T1 with a target orientation O soll, T1 (R T1 ) to the screw head of a screw provided at the interface, along the trajectory T1 for locations R T1 of the trajectory T1, the target orientation O soll, T1 (R T1 ) of the effector is defined, with force-controlled or impedance-controlled or admittance-controlled rotary movements and / or tilting movements and / or translational movements by the robot manipulator to accommodate the screw head in the effector Movement patterns of the effector are executed until a provided force / torque signature or a position / speed signature is reached or exceeded on the effector, which indicates that the effector has successfully taken up the screw within predefined tolerances.
  • trajectory is understood to mean a trajectory, in particular a three-dimensional trajectory.
  • the term “signature” describes a predefined parameter data set with assigned values and / or interval limits and / or a predefined time behavior (for example through time derivations) of a predefined parameter data set for Identification of the successful completion of the screw pick-up by the effector.
  • the “signature” thus describes a combination of parameters and / or their time behavior. For example, a specified force-time behavior can define the successful completion of the screw pick-up.
  • the rotating and tilting movements of the effector advantageously begin only after a predetermined distance of the effector from the screw head to be received. This distance is advantageously 0.1 to 2 cm. This distance is advantageously dependent on the dimension of the screw head.
  • the force-controlled rotating and tilting movements of the effector advantageously begin at a greater distance, when the screw head has a larger dimension and vice versa.
  • the tilting movements are advantageously carried out relative to the target orientation O soll, T1 (R T1 ) of the effector around one, two or three tilting axes, the corresponding tilting angles advantageously being in an angular range of up to ⁇ 1 °, ⁇ 2 °, ⁇ 5 °, ⁇ 7 °, ⁇ 10 °, ⁇ 12 °, ⁇ 15 ° to the target orientation O should, T1 (R T1 ) lie.
  • the rotary movements are advantageously periodic about an axis of rotation, and advantageously in an angular range of ⁇ 1 °, ⁇ 2 °, ⁇ 5 °, ⁇ 7 °, ⁇ 10 °, ⁇ 12 °, ⁇ 15 °.
  • the tilting movements and / or the rotary movements are advantageously periodic movements.
  • the rotary movements and / or tilting movements and translational movements can also be aperiodic movements or a combination of aperiodic and periodic movements.
  • the tilting movements and / or the translational movements are advantageously closed movements.
  • a closed translational movement is understood to mean that the trajectory or at least a projection of the trajectory results in a closed curve.
  • the tilting movements / rotating movements / translational movements are advantageously carried out continuously.
  • the force-controlled or impedance-controlled or admittance-controlled rotational movements and / or tilting movements and / or translational movement patterns of the effector are preferably carried out continuously while the screw head is being picked up, ie the corresponding movement of the effector is not interrupted.
  • the translational movement patterns are preferably closed movement patterns in which a movement path of the effector or at least their Projection results in a closed path.
  • the force-controlled or impedance-controlled or admittance-controlled rotary movements and / or tilting movements and / or translational movement patterns of the effector are preferably cycled while the screw head is being picked up, that is, the corresponding movement of the effector takes place step-by-step (movement-stop movement -Stop- etc.).
  • the movement phases and the stop phases are of the same length in time, and in another advantageous development they are of different length in time.
  • the proposed screwing device enables an improved, advantageous reception of screws from the interface.
  • the translational movement patterns carried out in this invention are advantageously carried out periodically with a continuous or step-wise movement.
  • the control unit is designed and set up to execute the following second control program.
  • the screw picked up by the effector is guided by the robot manipulator along a predetermined trajectory T2 with a target orientation O soll, T2 (R T2 ) of the threaded pin of the screw to a thread located at a position known apart from a tolerance band, whereby along the trajectory T2 for locations R T2 of the trajectory T2 the target orientation O soll, T2 (R T2 ) of the threaded pin of the screw is defined, with force-controlled or impedance-controlled or force-controlled or impedance-controlled or force-controlled or impedance-controlled or force-controlled insertion of the free end of the threaded pin of the screw into the thread by the robot manipulator admittance-controlled rotational movements and / or tilting movements and / or translational movement patterns of the screw are executed until a provided force / torque signature or a position / speed signature is reached or exceeded on the effector
  • the tilting movements of the threaded pin relative to its target orientation O soll , T2 are advantageously carried out continuously, ie the corresponding movement of the effector is not interrupted.
  • the rotary movements and / or translational movement patterns of the threaded pin are carried out continuously, i.e. the corresponding movement of the effector is not interrupted.
  • the rotary movements and / or tilting movements and / or translational movement patterns of the threaded pin are preferably carried out in a clocked manner, i.e. the corresponding movement of the effector takes place gradually (movement-stop-movement-stop-etc.).
  • the movement phases and the stop phases are of the same length in time, and in another advantageous development they are of different length in time.
  • the control unit is designed and set up to execute the following third control program.
  • this control program after the free end of the threaded pin has been successfully inserted into the thread, the screw is screwed into the thread in a force-controlled or impedance-controlled or admittance-controlled manner until a provided force / torque signature or a position / speed signature on the effector is reached or exceeded indicating that the screw has been successfully inserted into the thread.
  • control unit is designed and set up in such a way that, when regulating the aforementioned movements of the effector or the robot manipulator, it is taken into account that an impedance, a pilot control force winder and / or a target position is time-variant.
  • screw (s) is ferromagnetic and the effector is magnetic, the receiving and holding of the screw in the effector due to the magnetic attraction of Screw and effector is effected.
  • the screwing device is characterized in that the screw is picked up and held in the effector due to a negative pressure.
  • the screwing device has a corresponding vacuum pump which is controlled or regulated accordingly by the control unit.
  • the screwing device has a data interface to a data network (e.g. Internet, LAN, Local Area Network), and the screwing device is set up and designed for this purpose, the first and / or the second and / or load the third control program and / or further control programs from the data network.
  • a data network e.g. Internet, LAN, Local Area Network
  • the screwing device advantageously has a data interface and a corresponding program memory.
  • the control programs are advantageously made available by a central provider in the respective data network.
  • the data network is advantageously a wired data network, a radio data network or a combination thereof.
  • the screwing device is advantageously set up and designed to load control and regulation parameters to the first and / or second and / or third control program and / or to further control programs from the data network.
  • the control and regulation parameters define the specific application of the corresponding control program.
  • the control and regulation parameters are particularly adapted to the task to be solved.
  • the screwing device advantageously has a corresponding data memory for this purpose.
  • the screwing device is advantageously set up and designed to transfer control and regulation parameters to the first and / or the second and / or the third control program and / or to further control programs via a manual input interface of the screwing device (for example a man-machine available in the area of the screwing device Interface) and / or via a "teach-in process" in which the robot manipulator is guided manually, ie is moved by a user applying a force. Furthermore, both the manual input interface and a "teach-in process" carried out with the robot manipulator enable a correction or adaptation of control and regulation parameters loaded from the data network.
  • a manual input interface of the screwing device for example a man-machine available in the area of the screwing device Interface
  • a "teach-in process” in which the robot manipulator is guided manually, ie is moved by a user applying a force.
  • both the manual input interface and a "teach-in process" carried out with the robot manipulator enable a correction or adaptation of control and
  • the screwing device is advantageously set up and designed for loading is controlled by control programs and / or by associated control and regulation parameters from the data network from a remote station, which is also connected to the data network.
  • remote stations can be tablet PCs, smartphones, notebooks, personal computers, etc., for example.
  • a remote station is advantageously operated by a central provider.
  • the screwing device is advantageously set up and designed to send control programs and / or associated control and regulation parameters that are present locally on the screwing device to other users in the data network as requested by a participant in the data network and / or autonomously, e.g. if a predetermined condition is present .
  • a "participant" can in principle be any computer and / or storage unit set up for this data exchange.
  • the screwing device is advantageously set up and designed to start control programs loaded locally on the screwing device with the associated control and regulation parameters from a remote station which is also connected to the data network.
  • remote stations can be tablet PCs, smartphones, notebooks, personal computers, etc., for example.
  • a remote station is advantageously operated by a central provider.
  • the remote station and / or the manual input interface on the screwdriving device advantageously have a man-machine interface that is used for inputting control programs and / or associated control and regulation parameters; and / or is designed and set up for the selection of control programs and / or associated control and regulation parameters from a plurality of available control programs and / or associated control and regulation parameters.
  • the man-machine interface advantageously enables inputs via a "drag-and-drop" input on a touchscreen, a guided input dialog, a keyboard, a computer mouse, a haptic input interface, virtual reality glasses, an acoustic input interface, a Body tracking based on electromyography data, on the basis of electroencephalography data, via a neural interface to the operator's brain or a combination thereof.
  • the human-machine interface is advantageous for outputting audio-visual, haptic, olfactory, tactile, electrical feedback or a combination from it executed and set up.
  • a further aspect of the invention relates to a method for operating a screwing device, the screwing device comprising: a storage container for screws with a screw head, a screw head drive and a threaded pin, a robot manipulator with an effector matched to the screw head, which is used to receive and handle such a screw is designed and set up, a separation unit connected to the storage container, which provides screws from the storage container at an interface in such a manner separated at a known position that a respective screw head is accessible to the effector, as well as a control unit for controlling the robot manipulator, wherein the Control unit executes the following first control program.
  • T1 (R T1) led to the screw head of a screw provided at the interface, whereby along the trajectory T1 for Type R T1 of the trajectory T1 the target orientation O soll, T1 (R T1 ) of the effector is defined, with force-controlled or impedance-controlled or admittance-controlled rotary movements and / or tilting movements and / or translational movement patterns of the effector being carried out to accommodate the screw head in the effector until a provided force / torque signature or a position / speed signature on the effector is reached or exceeded, which indicates that the picking up of the screw by the effector has been successfully completed within predefined tolerances.
  • the force-controlled or impedance-controlled or admittance-controlled rotating and / or tilting movements and / or translational movement patterns of the effector are preferably carried out continuously while the screw head is being picked up, i.e. the corresponding movement of the effector is not interrupted.
  • the force-regulated or impedance-regulated or admittance-regulated rotary and / or tilting movements and / or translational movement patterns of the effector are preferably cycled while the screw head is being picked up, ie the The corresponding movement of the effector takes place step by step (movement-stop-movement-stop- etc.).
  • the movement phases and the stop phases are of the same length in time, and in another advantageous development they are of different length in time.
  • the term “signature” is used in the present case for a characteristic combination of values and / or sequence of values for the detected forces and moments.
  • the stated rotating and / or tilting movements are advantageously periodic and / or self-contained movements that take place continuously or in steps.
  • the rotating and / or tilting movements can be aperiodic movements.
  • Aperiodic and periodic movements can also alternate.
  • the translational movement patterns carried out in this invention are advantageously carried out periodically with a continuous or step-wise movement.
  • the control unit executes the following second control program.
  • the screw picked up by the effector is guided by the robot manipulator along a predefined trajectory T2 with a target orientation O soll, T2 (R T2 ) to a thread arranged at a known position, along the trajectory T2 for locations R T2 of the trajectory T2 the target orientation O soll, T2 (R T2 ) of the threaded pin of the screw is defined, with force-controlled or impedance-controlled or admittance-controlled rotary movements and / or tilting movements and / or tilting movements and / or translational movement patterns of the screw are carried out until a provided force / torque signature or a position / speed signature is reached or exceeded on the effector, which indicates that the free end of the threaded pin has been successfully inserted into the thread.
  • the control unit executes the following third control program.
  • the screw is screwed into the thread in a force-controlled or impedance-controlled or admittance-controlled manner until a provided force / torque signature or a position / speed signature on the effector is reached or exceeded will the indicates that the screw has been successfully screwed into the thread.
  • the "successful" insertion of the free end of the threaded pin into the thread is understood to mean that the screw is inserted into the thread in such a way that the screw has "gripped” in the thread so that the screw can be screwed further into the thread.
  • the screwing device has a data interface to a data network, and the screwing device loads the first and / or the second and / or the third control program and / or further control programs from the data network.
  • An advantageous development of the method is characterized in that the screwing device loads control and regulation parameters to the first and / or second and / or third control program and / or to further control programs from the data network.
  • the screwing device controls and regulates parameters to the first and / or the second and / or the third control program and / or to further control programs via a local input interface and / or via a "teach-in" -Process ", during which the robot manipulator is operated manually, loads.
  • An advantageous further development method is characterized in that the loading of control programs and / or associated control and regulation parameters from the data network into the screwing device is controlled by a remote station which is also connected to the data network.
  • control programs and / or associated control and regulation parameters present locally in the screwdriving device can be sent to other participants in the data network as requested by a participant in the data network or autonomously, e.g. if a predetermined condition is present .
  • control programs loaded / available locally on the screwing device can be used with the associated control and regulation parameters from a remote station, which is also connected to the data network, can be started individually.
  • An advantageous development of the method is characterized in that the remote station and / or the local input interface has / have a man-machine interface into the inputs for control programs and / or associated control and regulation parameters and / or in the inputs to select control programs and / or associated control and regulation parameters from a plurality of available control programs and / or associated control and regulation parameters.
  • an advantageous development of the method is characterized in that the human-machine interface inputs via a "drag-and-drop" input on a touchscreen, a guided input dialog, a keyboard, a computer mouse, a haptic input interface, a virtual reality Goggles, an acoustic input interface, body tracking based on etectromyography data, based on electroencephalography data, via a neural interface to the brain or a combination thereof.
  • Another aspect of the invention relates to a digital storage medium with electronically readable control signals, the control signals being able to interact with a programmable computer system in such a way that a method as described above is carried out.
  • Another aspect of the invention relates to a computer program product with program code stored on a machine-readable carrier for performing the method, as described above, when the program code is executed on a data processing device.
  • Another aspect of the invention relates to a computer program with program codes for performing the method, as described above, when the program runs on a data processing device.
  • the data processing device can be designed as any computer system known from the prior art.
  • T1 (R T1) led to the screw head of a screw provided at the interface, whereby along the trajectory T1 for Type R T1 of the trajectory T1 the target orientation O soll, T1 (R T1 ) of the effector is defined.
  • T1 force-controlled rotating and tilting movements of the effector relative to its target orientation O soll, T1 (R T1 ) are carried out by the robot manipulator until a specified limit value condition G1 for a moment acting on the effector and / or a specified limit value condition G2 a force acting on the effector and / or a limit value condition G3 is reached or exceeded for a time to perform the rotary and / or tilting movements and / or a force / torque signature and / or a position / speed signature on the effector is reached or exceeded, which indicates that the picking up of the screw by the effector has been successfully completed within predefined tolerances.
  • the force-controlled rotating and tilting movements of the effector begin advantageously only from a predetermined distance of the effector from the screw head to be accommodated of 0.5 cm.
  • Fig. 2 shows a highly schematic flow chart of the proposed method for operating a screwing device, the screwing device comprising: a storage container for screws with a screw head, a screw head drive and a threaded pin, a robot manipulator with an effector matched to the screw head, which is used to receive and handle such a screw is designed and set up, a separation unit connected to the storage container, which provides screws from the storage container at an interface so separated at a known position that a respective screw head is accessible to the effector, as well as a control unit for controlling / regulating the robot manipulator.
  • the control unit is set up and designed to execute the following first control program.
  • the effector is guided 201 by the robot manipulator along a predetermined trajectory T1 with a target orientation O soll, T1 (R T1 ) to the screw head of a screw provided at the interface, along the trajectory T1 for locations R T1 of the trajectory T1 is a target orientation O soll, T1 (R T1 ) of the effector is defined, with force-controlled and / or impedance-controlled rotational and / or tilting movements and / or translational movement patterns of the effector relative to the robot manipulator to accommodate 202 the screw head in the effector whose target orientation O should, T1 (R T1 ) be executed until a predetermined limit value condition G1 for a torque acting on the effector and / or a predetermined limit value condition G2 for a force acting on the effector and / or a limit value condition G3 for a time to carry out the rotation and / or tilting movements is reached or exceeded and / or one

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
EP18718449.4A 2017-04-23 2018-04-18 Schraubvorrichtung Active EP3615275B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017003912 2017-04-23
PCT/EP2018/059832 WO2018197284A1 (de) 2017-04-23 2018-04-18 Schraubvorrichtung

Publications (2)

Publication Number Publication Date
EP3615275A1 EP3615275A1 (de) 2020-03-04
EP3615275B1 true EP3615275B1 (de) 2021-12-29

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP18718449.4A Active EP3615275B1 (de) 2017-04-23 2018-04-18 Schraubvorrichtung

Country Status (9)

Country Link
US (1) US11524405B2 (zh)
EP (1) EP3615275B1 (zh)
JP (1) JP7148152B2 (zh)
KR (1) KR102305719B1 (zh)
CN (1) CN110536780B (zh)
DE (1) DE102017118985B4 (zh)
DK (1) DK3615275T3 (zh)
SG (1) SG11201909832RA (zh)
WO (1) WO2018197284A1 (zh)

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Publication number Priority date Publication date Assignee Title
DE102017118985B4 (de) * 2017-04-23 2019-10-02 Franka Emika Gmbh Schraubvorrichtung
DE102018117268A1 (de) 2018-07-17 2020-01-23 Tq-Systems Gmbh Zentriereinrichtung für Schrauber
DE102019107854B3 (de) * 2019-03-27 2020-09-10 Franka Emika Gmbh Robotergreifer

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US11524405B2 (en) 2022-12-13
SG11201909832RA (en) 2019-11-28
CN110536780B (zh) 2022-09-13
KR102305719B1 (ko) 2021-09-29
EP3615275A1 (de) 2020-03-04
JP2020517473A (ja) 2020-06-18
DE102017118985A1 (de) 2018-10-25
KR20200002972A (ko) 2020-01-08
CN110536780A (zh) 2019-12-03
DE102017118985B4 (de) 2019-10-02
US20200391387A1 (en) 2020-12-17
JP7148152B2 (ja) 2022-10-05
DK3615275T3 (da) 2022-03-07
WO2018197284A1 (de) 2018-11-01

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